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44 lines
1.5 KiB
44 lines
1.5 KiB
/*
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* Copyright (C) 2021 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "media/Twist.h"
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#include "QuaternionUtil.h"
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namespace android {
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namespace media {
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Pose3f integrate(const Twist3f& twist, float dt) {
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Eigen::Vector3f translation = twist.translationalVelocity() * dt;
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Eigen::Vector3f rotationVector = twist.rotationalVelocity() * dt;
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return Pose3f(translation, rotationVectorToQuaternion(rotationVector));
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}
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Twist3f differentiate(const Pose3f& pose, float dt) {
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Eigen::Vector3f translationalVelocity = pose.translation() / dt;
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Eigen::Vector3f rotationalVelocity = quaternionToRotationVector(pose.rotation()) / dt;
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return Twist3f(translationalVelocity, rotationalVelocity);
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}
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std::ostream& operator<<(std::ostream& os, const Twist3f& twist) {
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os << "translation: " << twist.translationalVelocity().transpose()
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<< " rotation vector: " << twist.rotationalVelocity().transpose();
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return os;
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}
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} // namespace media
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} // namespace android
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